Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

JointSet.c: put all the current targets to 0 when IDLE or HF #362

Merged
merged 3 commits into from
Apr 5, 2023
Merged

JointSet.c: put all the current targets to 0 when IDLE or HF #362

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
fbae622
AMCBLDC: put all the current targets to 0 when IDLE or HF
sgiraz Mar 31, 2023
939242a
Add `JointSet_do_off` to set the references to ZERO when idle.
sgiraz Apr 4, 2023
08f2836
Update FW versions
sgiraz Apr 4, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 4 additions & 4 deletions emBODY/eBcode/arch-arm/board/amc/examples/appl-01/cfg/theApplication_config.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -40,14 +40,14 @@ namespace embot { namespace app { namespace eth {
Process::eApplication,
#if defined(WRIST_MK2)
#if defined(WRIST_MK2_RIGHT)
{101, 0},
{101, 1},
#else
{102, 0},
{102, 1},
#endif
#else
{103, 0},
{103, 1},
#endif
{2023, Month::Mar, Day::two, 15, 20}
{2023, Month::Apr, Day::four, 15, 00}
},
.OStick = 1000*embot::core::time1microsec,
.OSstacksizeinit = 10*1024,
Expand Down
6 changes: 3 additions & 3 deletions emBODY/eBcode/arch-arm/board/amc/examples/appl-01/proj/appl-01-wrist.uvprojx
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,7 @@
<InvalidFlash>1</InvalidFlash>
</TargetStatus>
<OutputDirectory>.\obj\</OutputDirectory>
<OutputName>h7eth</OutputName>
<OutputName>amc</OutputName>
<CreateExecutable>1</CreateExecutable>
<CreateLib>0</CreateLib>
<CreateHexFile>1</CreateHexFile>
Expand Down Expand Up @@ -80,9 +80,9 @@
<nStopB2X>0</nStopB2X>
</BeforeMake>
<AfterMake>
<RunUserProg1>0</RunUserProg1>
<RunUserProg1>1</RunUserProg1>
<RunUserProg2>0</RunUserProg2>
<UserProg1Name></UserProg1Name>
<UserProg1Name>cmd.exe /C copy .\obj\amc.hex ..\bin\amc.hex</UserProg1Name>
<UserProg2Name></UserProg2Name>
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
Expand Down
10 changes: 5 additions & 5 deletions emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -81,21 +81,21 @@ extern "C" {
#define EOMTHEEMSAPPLCFG_VERSION_MAJOR (VERSION_MAJOR_OFFSET+3)
// <o> minor <0-255>
// <o> minor <0-255>
#define EOMTHEEMSAPPLCFG_VERSION_MINOR 64
#define EOMTHEEMSAPPLCFG_VERSION_MINOR 65

// </h>version

// <h> build date
// <o> year <2010-2030>
#define EOMTHEEMSAPPLCFG_BUILDDATE_YEAR 2023
// <o> month <1-12>
#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH 3
#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH 4
// <o> day <1-31>
#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY 23
#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY 4
// <o> hour <0-23>
#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR 11
#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR 15
// <o> minute <0-59>
#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN 54
#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN 00
// </h>build date
// </h>Info

Expand Down
10 changes: 5 additions & 5 deletions emBODY/eBcode/arch-arm/board/mc2plus/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -75,20 +75,20 @@ extern "C" {
#define EOMTHEEMSAPPLCFG_VERSION_MAJOR 3
// <o> minor <0-255>
// <o> minor <0-255>
#define EOMTHEEMSAPPLCFG_VERSION_MINOR 46
#define EOMTHEEMSAPPLCFG_VERSION_MINOR 47
// </h>version

// <h> build date
// <o> year <2010-2030>
#define EOMTHEEMSAPPLCFG_BUILDDATE_YEAR 2023
// <o> month <1-12>
#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH 3
#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH 4
// <o> day <1-31>
#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY 23
#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY 4
// <o> hour <0-23>
#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR 11
#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR 15
// <o> minute <0-59>
#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN 56
#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN 00
// </h>build date

// </h>Info
Expand Down
10 changes: 5 additions & 5 deletions emBODY/eBcode/arch-arm/board/mc4plus/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -86,21 +86,21 @@ extern "C" {
#define EOMTHEEMSAPPLCFG_VERSION_MAJOR (VERSION_MAJOR_OFFSET+3)
// <o> minor <0-255>

#define EOMTHEEMSAPPLCFG_VERSION_MINOR 67
#define EOMTHEEMSAPPLCFG_VERSION_MINOR 68

// </h>version

// <h> build date
// <o> year <2010-2030>
#define EOMTHEEMSAPPLCFG_BUILDDATE_YEAR 2023
// <o> month <1-12>
#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH 3
#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH 4
// <o> day <1-31>
#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY 23
#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY 4
// <o> hour <0-23>
#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR 11
#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR 15
// <o> minute <0-59>
#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN 55
#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN 00

// </h>build date

Expand Down
33 changes: 33 additions & 0 deletions emBODY/eBcode/arch-arm/embobj/plus/mc/JointSet.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -421,6 +421,7 @@ BOOL JointSet_do_check_faults(JointSet* o)

static void JointSet_do_vel_control(JointSet* o);
static void JointSet_do_current_control(JointSet* o);
static void JointSet_do_off(JointSet* o);

void JointSet_do_control(JointSet* o)
{
Expand All @@ -437,6 +438,10 @@ void JointSet_do_control(JointSet* o)
case eomc_ctrl_out_type_cur:
JointSet_do_current_control(o);
return;

case eomc_ctrl_out_type_off:
JointSet_do_off(o);
return;
}
}

Expand Down Expand Up @@ -1287,6 +1292,34 @@ static void JointSet_do_current_control(JointSet* o)
}
}

static void JointSet_do_off(JointSet* o)
{
// get the number of the joints (that is also the number of the motors)
int N = *(o->pN);

// for each joint set the reference to ZERO for each control mode
for (int js=0; js<N; ++js)
{
Joint *pJoint = o->joint+o->joints_of_set[js];

pJoint->pos_err = pJoint->pos_ref = ZERO;
pJoint->vel_err = pJoint->vel_ref = ZERO;
pJoint->trq_err = pJoint->trq_ref = ZERO;

pJoint->output = ZERO;
}

// for each reference mode set the motor reference to ZERO
for (int ms=0; ms<N; ++ms)
{
int m = o->motors_of_set[ms];

Motor_set_Iqq_ref(o->motor+m, 0);
Motor_set_pwm_ref(o->motor+m, 0);
Motor_set_vel_ref(o->motor+m, 0);
}
}

static void JointSet_do_vel_control(JointSet* o)
{
int N = *(o->pN);
Expand Down